Joint device

ABSTRACT

A joint device of an orthosis or prosthesis or for an orthosis or prosthesis with an upper part, a lower part, a joint that comprises a joint axis, about which the upper part is mounted such that it can be swivelled relative to the lower part, and an actuator, which is designed to influence a swivelling of the upper part relative to the lower part. The actuator is mounted at an upper part fixing point on the upper part and at a lower part fixing point on the lower part. At least two joints are arranged between the upper part fixing point and the lower part fixing point, wherein the joints enable a swivelling of the actuator relative to the upper part fixing point and the lower part fixing point, and the joints each form at least one joint axis, at least one of which is not oriented parallel to the joint axis.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a U.S. National Entry and claims priority to PCTInternational Patent Application No. PCT/EP2018/064918, filed 6 Jun.2018, and entitled JOINT DEVICE, which claims priority to Germany PatentApplication No. 102017112911.1 filed 12 Jun. 2017, the entiredisclosures of which are incorporated herein by this reference.

TECHNICAL FIELD

The invention relates to a joint device for a prosthesis or an orthosisor of a prosthesis or orthosis with an upper part, a lower part, with ajoint that comprises a joint axis about which the upper part is mountedsuch that it can be swivelled relative to the lower part, and anactuator, which is designed to influence a swivelling of the upper partrelative to the lower part, wherein the actuator is mounted at an upperpart fixing point on the upper part and at a lower part fixing point onthe lower part.

BACKGROUND

Joint devices can be used in orthoses or prostheses. Orthoses are used,among other things, to support or retain the function of the remaininglimb. To this end, the orthosis is attached to the remaining limb. Inthe case of an orthosis of the lower limb, such as an orthosis thatoverlaps the knee joint, rails are laid on the upper leg and the lowerleg, said rails being connected to one another via an orthotic kneejoint. In the case of an ankle orthosis, the foot is fixed to a footpart, which is connected to a lower leg rail via an orthotic anklejoint. The same applies for a hip joint orthosis or for an orthosis thatbridges more than two natural joints. Orthoses can also be used on upperlimbs.

Missing limbs are replaced by prostheses. If natural joints, such as aknee joint, are missing, the missing natural knee joint is replaced by aprosthetic knee joint. The upper part of the prosthetic knee joint isattached to a lower leg stump via an upper leg socket. The lower part ofthe prosthetic knee joint is fixed to the upper leg part such that itcan be swivelled. A lower leg tube and a prosthetic foot, whereapplicable with a prosthetic ankle joint, are arranged on the lower legpart.

In the case of both prostheses and orthoses, actuators may be used toinfluence the movements of the individual components, for instance tosupport or prevent a swivel movement. A movement is supported bysupplying energy from an energy store, for example via a springmechanism or via a motor drive, which is supplied with energy from anenergy store for storing energy, wherein this energy is normallyelectrical energy. To prevent a movement, for example to dampen aflexion or extension movement or to decelerate, dampers—such ashydraulic dampers or pneumatic dampers—are used. End stop elements maybe used in the respective joint direction in order to ensure a soft endstop when a maximum position is reached, be it a flexion or anextension.

A joint device for lower limbs is described, for instance, in DE 10 2015113 799 A1.

In orthotics technology in particular, but also in the field ofprosthetics, it has thus far been necessary to mount availablecomponents parallel to preserved body parts, so that swivel axes alignwith one another. In particular, actuators that are laterally arrangedalongside a limb, such as dampers or drives, result in a highconstruction volume, since the components cannot be arranged accordingto the body contour.

SUMMARY

The task of the present invention is to provide a joint device which canbe easily adjusted to fit the respective user and requires as small avolume as possible.

According to the invention, this task is solved by a joint devicefeaturing the properties disclosed herein. Advantageous configurationsand embodiments of the invention are also disclosed in the descriptionand the diagrams.

The joint device for a prosthesis or an orthosis, or of a prosthesis oran orthosis with an upper part, a lower part, with a joint thatcomprises a joint axis about which the upper part is mounted such thatit can be swivelled relative to the lower part, and with an actuatorthat is designed to influence a swivelling of the upper part relative tothe lower part, wherein the actuator is mounted at an upper part fixingpoint on the upper part and at a lower part fixing point on the lowerpart, provides for at least two joints that are arranged between theupper part fixing point and the lower part fixing point; for the jointsto allow for a swivelling of the actuator relative to the upper partfixing point and the lower part fixing point, and for said joints toform at least one joint axis, at least one of which is not orientedparallel to the joint axis. The actuator need not be fixed directly tothe upper part and the lower part; it may be mounted at the respectivelower part fixing point or upper part fixing point via spacers, fixingcomponents, extensions or further components. Due to the fact that atleast two joints are arranged between the upper part fixing point andthe lower part fixing point, it is possible that, even if the alignmentof the upper part fixing point in relation to the lower part fixingpoint is not straight and the orientation of the actuator in relation tothe joint axis is thus tilted or twisted, the actuator can still befixed as close to the body or the upper or lower part as possible. Thisrenders it possible to execute the articulation of the actuator and themechanical structure, which absorbs the forces of the actuator and—inthe case of an orthosis—transfers them to limbs, in such a way that anadjustment to fit the body contour is possible without any manualprocessing for the purpose of shaping the components. The same appliesfor prostheses, the mechanical structure of which generally consists ofa socket as an upper part and a lower part that is fixed in anarticulated manner to said upper part and the actuator of whichtransfers damping forces or propulsive forces to the upper part andlower. Given that, in general, orthotic components are provided asstandard parts in different shapes and at different angles, they must bemechanically processed, for example deformed or shortened, so that theyfit the contour of the respective limb, such as the leg. Similarconditions apply for prostheses, the sockets of which are oftencustom-made as unique products or, as test prosthetic sockets, can beindividually adjusted to the body contour. In order to attach anactuator to the prosthesis or orthosis, mechanical post-processing isoften required or it is necessary to provide spacers, so that thecomponents that follow an extension or flexion movement are generallymoved in one plane, which is perpendicular to the swivel axis. With thearrangement or configuration of at least two joints, which enable aswivelling of the actuator in relation to the upper part fixing pointand the lower part fixing point and each form a swivel axis, at leastone of which is oriented so as not to be parallel to the joint axis, itis possible to adjust the actuator to ensure an optimal fit to the bodycontour.

An embodiment of the invention proposes that the first swivel axis beoriented orthogonally to the joint axis, such that a tiltingperpendicular to the joint axis is possible. This renders simple atilting out of the plane that is perpendicular to the swivel axis.

An embodiment of the invention proposes that the first swivel axis beoriented orthogonally to the second swivel axis. An embodiment proposesthat both swivel axes be oriented such that they are neither parallel toone another nor to the joint axis, meaning that the adjustability of theorientation of the actuator in relation to the joint axis and therespective fixing point can be almost arbitrary.

The two swivel axes preferably lie in the same plane and preferablyintersect at a point. The point of intersection of the two swivel axesneed not be a point on the joint axis; however, it is preferable if itdoes lie on the joint axis, so that all three axes intersect at a singlepoint.

Preferably, the actuator is designed as a linear actuator and activelyeffects either a swivelling of the upper part relative to the lower partor dampens or brakes a swivel movement of the upper part relative to thelower part.

The actuator may be designed as an electric, pneumatic or hydraulicdrive in the case of an active support of the respective movement, or asa hydraulic or pneumatic damper or as an electric, pneumatic, mechanicalor magnetic brake if the actuator is to have a braking or dampingeffect.

An embodiment of the invention proposes that at least one of the swivelaxes lie in a swivel plane that is oriented orthogonally to the jointaxis. This may result in a twisting of the actuator about the swivelaxis, without adversely affecting the movement about the joint axis.

An embodiment of the invention proposes that the actuator be fixed to abracket, which is arranged between the joint axis and the upper partfixing point or the lower part fixing point. Here, at least one of theswivel axis is designed to be in the bracket. The bracket is therefore aspacer that is or can be attached to the lower part or the upper part. Apart of the actuator is fixed to the bracket: for example, in the caseof a linear actuator, said part may be the housing or the operating rodthat moves in and out of the housing, such as a piston rod or amotor-driven extendible component. The respective other end of theactuator may then be fixed to the other component of the joint device,i.e. on the lower part or on the upper part, and forces of the actuatortransferred to the respective component. Due to the configuration of abracket for fixing between the actuator and the upper part or lowerpart, it is possible to provide a module that can be standardized andprefabricated, wherein said module is attached to the upper part or thelower part at the respective fixing point in order to create a couplingpoint or a bearing point with the actuator. As a result, cost-effectivestandard components can be used to render possible the adjustment ofstandard components to fit the individual body contour of the respectiveuser.

The bracket may feature a mounting plate that is attached to the upperpart or lower part such that it is torque-proof, in order to be able toeffectively transfer forces and torques to the upper part or the lowerpart. Furthermore, the torque-proof attachment of the bracket to theupper part or the lower part enables a sufficiently stable guiding ofthe actuator on the upper part or lower part.

If the actuator is designed as a linear actuator, a bearing point ispreferably provided on the bracket, said bearing point being situated ata distance from the joint axis, wherein the actuator is mounted on thebracket either with the housing or the extendible rod at said bearingpoint. This renders it possible to effect or withstand a torque aboutthe joint axis, so as to effect or influence a swivelling of the upperpart relative to the lower part.

In an embodiment of the invention, the actuator is attached to a frame,which features a fixing device or several fixing devices for thereversible arrangement on the upper part and the lower part. This frameallows for the production of a standardized interface, for example on acontrol system, sensors or other components that are fixed to saidframe. The frame also allows for the production of an interface for theactuator, so that different upper parts or lower parts can be equippedin advance with fixing connectors for the fixing devices, such thatdifferent components can be tested on the frame. Such a configurationwith a frame is practical for test orthoses or test prostheses inparticular, since the respective components can be easily fixed todifferent upper parts, lower parts or also different components on therespective frame, such that a multitude of combinations would bepossible without the need for mechanical changes to the upper parts,lower parts or components, or the use of a multitude of spacer elements.

One embodiment of the invention proposes that the bracket be fixed tothe frame such that it can be swivelled and the joint axis and/or aswivel axis be configured between the frame and the bracket. The bracketand the frame thus form the actual joint between the upper part and thelower part, said joint transferring forces and torques. The combinationof bracket and frame can be designed to be independent of the upper partand the lower part. The upper part or lower part of a prosthesis is, forinstance, a prosthetic socket and a further prosthetic component, whichis connected distally to said socket, such as a lower leg tube, aprosthetic foot or, in the case of upper limbs, a lower arm tube,whereas in the case of a prosthesis, the upper part and the lower partare designed in rails or fixing shells for attaching them to therespective limb or body part.

An embodiment of the invention proposes that, when the swivelling aboutthe axis of movement occurs, the actuator conduct a movement in theplane that is defined by the frame. Here, the movement of the actuatoris linked to the movement of the frame.

An embodiment of the invention proposes that at least one sensor bearranged on the joint device, the actuator, the frame and/or the bracketfor recording angular positions, paths, forces, torques, spatialpositions and/or accelerations, in order to control the activities ofthe actuator. To this end, the sensor is or the sensors are coupled withan electronic control device and, where applicable, with an interfacefor a user. The coupling may be wired or wireless. A wired or wirelessinterface for adjusting the control parameters of the actuator may bearranged in the interface for the user. An energy supply for providingthe required electrical energy for the control system and the drive, orfor the adjustment of valves, or for generating an electromagnetic fieldon the joint device, particularly on the frame, may also be provided.

BRIEF DESCRIPTION OF THE DRAWINGS

In the following, examples of embodiments of the invention will beexplained in more detail by way of the attached figures. They show:

FIG. 1 —a schematic lateral view of a joint device in the form of anorthosis;

FIG. 2 —a frontal view with a perpendicular alignment from upper part tolower part;

FIG. 3 —a laterally tilted arrangement of the actuator;

FIG. 4 —a medially tilted arrangement of the actuator;

FIG. 5 —a top view of a joint device in the form of a frame, which isflexibly connected to a bracket; and

FIGS. 6 to 8 depictions of a variation of the invention.

DETAILED DESCRIPTION

FIG. 1 shows a lateral view of a joint device on an orthosis with anupper part 10, which is designed as a shell or a rail for attaching itto an upper leg. A lower part 20 is arranged to the upper part 10 abouta joint axis 35, such that said upper part can be swivelled, whereinsaid lower part is also designed as a shell or as at least one rail. Theupper part 10 and the lower part 20 are arranged on the respective limbvia fixing elements, which are not depicted here. The example of anembodiment provides a knee orthosis, which is put on a leg of a user.The upper part 10 is thus designed as an upper leg shell or upper legrail, where applicable as a combination of two rails that are arrangedmedially and laterally on the upper leg, whereas the lower part 20 isdesigned as a lower leg shell or lower leg rails.

The joint axis 35 is situated in the vicinity of the natural swivel axisof the respective joint; in the present example of an embodiment, thisis the knee joint. Since the natural joint axis in a knee joint isvariable, due to the complex structure of the knee joint, the joint axis35 is situated in the vicinity of the natural joint axis or on acompromise pivot axis.

An actuator 40 is arranged between the upper part 10 and the lower part20, wherein an extension movement or a flexion movement about the jointaxis 35 can be influenced via said actuator. The actuator 40 may bedesigned as a passive actuator, in particular as a hydraulic damper, apneumatic damper or a braking device, which is operated electrically,pneumatically, mechanically or magnetically. It is also possible todesign the actuator 40 as a drive which operates electrically,pneumatically or hydraulically. Energy provision devices 44 areallocated to the respective drive, wherein such devices are used tosupply the respective drive with the required energy. Said energyprovision devices may be provided in the form of pressure accumulators,elastic elements or batteries or rechargeable batteries. Other energystores are also possible and provided for. It is also possible for adrive 40 to also be used as a brake. In the example of an embodimentshown, the actuator 40 is designed as a linear actuator and features ahousing, in which a piston or another force transmitter that can beoperated linearly is arranged. In the case of a piston, it is connectedto a piston rod, the end of which is mounted at a distal bearing point74 on a bracket 70. The housing is arranged at an upper bearing point 84on a frame 80. An upper fixing point 41 and a lower fixing point 42 areconfigured by way of the frame 80 and the bracket 70, so that theactuator 40 is mounted at an upper part fixing point 41 and a lower partfixing point 42 on the upper part 10 and the lower part 20 via the frame80 and the bracket 70. It is also possible for the upper bearing point84 to be provided directly on the upper part 10. A reverse arrangementof frame and bracket is also possible, or the attachment of the actuator40 with the housing to the bracket 70 on the lower part 20.

In the example of an embodiment shown, the joint 30 is configured by wayof the frame 80 and the bracket 70. Two joints are arranged inside thebracket 70 and between the bearing point 74 on the bracket 70 and thelower part fixing point 42, wherein only the swivel axes 55, 65 of saidjoints are depicted due to the schematic depiction. The bracket 70 andthus also the actuator 40 can swivel about the swivel axes 55, 65relative to the lower part 20, wherein the swivel range about the swivelaxes 55, 65 is restricted by end stops. In the example of an embodimentshown, all three axes—the joint axis 35 and the swivel axes 55, 65—areperpendicular to each other. However, this need not necessarily be thecase. Preferably, all three axes 35, 55, 65 intersect at a point so asto enable the execution of the medial and lateral swivelling as well asa rotation about the longitudinal direction of the lower part 20 or thelimb, without adversely affecting the swivel movement about the jointaxis 35.

FIG. 2 shows a frontal view of the embodiment according to FIG. 1 . InFIG. 2 , the upper part fixing point 41 and the lower part fixing point42 can be seen more clearly. The joint axis 35 generally extendshorizontally through the natural joint. On the side that lies oppositeto the actuator 40, the orthosis features a free motion joint 12 toallow the upper part 10 to be guided more effectively relative to thelower part 20. FIG. 2 also depicts fixing agents 25 in the form of abelt, by way of which the lower part 20 can be attached to the lowerleg. Corresponding fixing agents are provided on the upper part 10. Inthe configuration according to FIG. 2 , the leg is straight, the upperpart 10 and the lower part 20 are correspondingly aligned with oneanother such that they are straight, the respective longitudinaldirection from upper part 10 to lower part 20 runs in a common plane orin planes that are parallel or generally parallel to one another. Theouter surfaces of the upper part 10 and of the lower part 20 generallylie in a plane perpendicular to the joint axis 35, such that both theactuator 40 as well as the frame 30 and the bracket 70 can be fixed sothat they fit very closely to the body or the upper part 10 and thelower part 20. An ability to twist or swivel about one of the swivelaxes 55, 65 is not necessary, or is only necessary to a low degree, tocompensate for misalignments.

FIG. 3 depicts a possible variation of an upper part configuration. Theupper part 10 protrudes laterally beyond a swivel plane 350, which isoriented perpendicular to the joint axis 35; the actuator 40 with theframe 80 is tilted out of the swivel plane 350 by approximately 35degrees. To compensate for this tilting, a joint is provided in thebracket 70, said joint enabling a swivelling about the swivel axis 55.The swivelling of the actuator 40 out of the swivel plane 350 causes,upon actuation, a torque, which effects a swivelling about theperpendicular swivel axis 65. Due to the design of a joint 60 that canbe twisted about the swivel axis, a rotation of the actuator 40 can beprevented if the joint 30 is inflected or extended.

A corresponding configuration is shown in FIG. 4 , in which a medialdeflection of the actuator 40 takes place, rather than a lateraldeflection.

FIGS. 2 to 4 depict various free motion joints 12: FIG. 2 shows a balljoint, FIG. 3 a hinge joint and FIG. 4 a cardan joint.

FIG. 5 depicts a detailed view of the actuator 40 as a linear actuatorin the form of a hydraulic damper with a valve unit 47, which can becontrolled via an electronic control system 100. The electronic controlsystem 100 is coupled with sensors 90, which record forces and angularpositions in the example of the embodiment shown. An angle sensor 90 isdepicted close to the joint axis 35; it also shows a force sensor 90 atan upper bearing point 84 of the actuator 40. The bearing point 84 isdesigned on a frame 80, on which both the actuator 40 and the controlunit 100 are arranged, as well as a user interface 110. An additionalsensor device may be arranged on the control unit 100, said sensordevice recording the spatial position. A so-called spatial positionsensor delivers data on the position of the frame 80 or the actuator 40in the space; in particular, data is delivered on the orientationrelative to the direction of gravity.

Several fixing devices 81 in the form of pins or through-bores areprovided on the frame 80, which may be designed to be made from, forexample, a dimensionally stable plastic, where applicable afiber-reinforced or a metal; said fixing devices can be used toreversibly attach the frame 80 to the upper part 10, not depicted.Further components, especially energy stores, may also be arranged onthe frame 80. Various bearing points 84 may be prepared on the frame 80,so as to enable the simple attachment of different actuators orcomponents to the frame 80.

A bracket 70 is arranged about the joint axis 35 on the frame 80 suchthat it can be swivelled, wherein said bracket forms the joint devicewith the frame 80. The bracket 70 is attached to the lower part 20, notdepicted, via fixing devices 71 on a mounting plate 70 a, wherein theattachment is preferably torque-proof. The fixing devices 71 may bedesigned as rivets or screws or similar fixing elements, said fixingelements preferably working in a form-fitting manner. Via the fixingdevices 71, the bracket 70 can be reversibly attached, via the mountingplate 70 a, to a lower part 20.

Two joints 50, 60 are designed to be situated in the bracket 70, saidjoints enabling a swivelling of the bearing point 74 relative to themounting plate 70 a. A first joint 50 enables a swivelling about a firstswivel axis 55. The first swivel axis 55 lies in a plane orthogonal tothe joint axis 35 and enables a tilting in an approximatelymediallateral direction if the frame 80 and the bracket 70 are arrangedlaterally on the outer side of an orthosis. The second swivel axis 65,which is formed by the second joint 60, lies in the same plane. Theswivel axis 65 generally extends in the longitudinal direction of thejoint device and preferably passes through the joint axis 35. It is alsopreferable if the first swivel axis 55 passes through the joint axis 35.Both swivel axes 55, 65 may, but do not have to, stand at a right angleto one another; in the example of an embodiment shown, the two swivelaxes 55, 65 are not perpendicular to one another. The joints 50, 60 areconfigured on the bracket 70, which is connected to the mounting plate70 a such that it can be twisted. This mounting plate is part of thebracket 70 and connected to the lower part 20 such that it istorque-proof.

A distal bearing point 74 is also configured on the bracket 70 at adistance from the joint axis 35, wherein said bearing point is providedfor mounting of the piston rod on the bracket 70. The bearing point 74enables a swivelling about an axis, said swivelling being generallyparallel to the joint axis 35.

The fixing of the actuator 40 to the upper part 10 and the lower part 20occurs on the one hand via the frame 80 and via the bracket 70 on theother. Via their respective fixing devices 71, 81, the frame 80 and themounting plate 70 a form the upper part fixing point 41 and the lowerpart fixing point 42. The linear actuator 40 is attached to the frame 80via the bearing point 84 such that it can be twisted. The mounting plate70 a and the frame 80 are also attached to the lower part 20 or theupper part 10 such that they are torque-proof, so that the piston rodmoves in and out of the housing of the linear actuator 40 upon aswivelling about the joint axis 35.

With regards to FIGS. 2 to 4 , it becomes clear that above all in thefield of orthotics, but also in prosthetics, the situation may arise inwhich the components used should be mounted as closely as possible tothe preserved body parts, so as to ensure that an additional volume onthe body is kept as small as possible. Via the actuator 40, it ispossible to achieve a targeted support of a torque in the flexion andextension direction at different phases of the movement, for examplewhen walking, whenever a support or guide is required. To this end, theactuator 40 is articulated on the joint device in such a way that thelinear movement of the actuator effects a torque that either supports orresists the movement. Whereas in the past it was necessary to guarantee,via spacers, that the actuator 40 was always positioned in the swivelplane 350, the joint device according to the invention renders itpossible for the articulation of the actuator 40 and the remainingmechanical structure, which serves to transfer loads, to be adjusted tofit the body contour or the respective different configurations of theorthosis or prosthesis, without requiring any manual processing, such asdeformation or the arrangement of spacers. Here, the movement of thelinear actuator 40 occurs in a plane that is different from the swivelplane 350, which is oriented perpendicular to the joint axis 35. Thearrangement in a single plane renders it possible to keep theconstruction volume that is required low. Such joint devices allow forthe construction of compact, mechatronic orthoses or prostheses. In thefield of prosthetics, they can be used, for instance, for patients whohave a very long stump or for small patients. By way of a lateralmounting of a joint device according to the invention, a simpleprosthetic joint with a hinge joint can be rendered more functional. Thesame applies for ankle joint or hip prostheses, and generally also forupper limb prostheses. The joint device, especially in the case of amodular configuration with a frame 80 and a mounting plate 70 a, enablesthe simple production of test prostheses or test orthoses. Furthermore,different actuators, such as dampers or drives, can be easily attachedto preferred standardized fixing points on the upper part and the lowerpart, such that a wide variety of components can be tested on therespective patient.

With the joint device according to the invention, the positioning of theactuator 40 and the mechanical structure used for transferring a load,in the form of the upper part and the lower part, can be varied in itsangular alignment in all three spatial directions, particularly in thefrontal plane about an anterior-posterior axis, without requiring anymanual adjustments or spacer elements. When the optimal angular positionof the actuator in relation to the body contour of the user is found,this optimal angular position can be fixed by way of an external freemotion joint 12. The free motion joint 12 is arranged on thecontralateral side, in particular on the medial side, since the actuatorunit is generally arranged laterally on a patient. The rotational axisof an orthosis, such as the joint axis 35, is preferably realized by twopoints: one being on the joint device 30, on the side of the actuator40, and the other being on a free motion joint 12, on the contralateralside.

The configuration according to the invention allows the actuator to moveon a path that deviates from the swivel plane 350, which is defined by aplane that is perpendicular to the compromise pivot axis of the joint.The additional joints 50, 60 prevent a rotation of the actuator 40 andminimize the volume covered during the movement, meaning that theconstruction volume required is lower than the construction volume ofconfigurations known to date. The alignment of the mechanical componentson the upper part 10 and the lower part 20 is defined over the course ofthe mounting of an orthosis or prosthesis. In the case of an orthosis,the orthosis is stabilized via the mechanical free motion joint 12 andsufficiently defined in its degrees of freedom.

FIGS. 6 to 8 depict another variation of the invention, in which theactuator 40 is concealed on the frame 80 behind a cladding. As can beseen in FIG. 6 , the interface 110 is accessible from outside, whereinsaid interface is an interface between the control unit 100 that isfixed to the frame and the user or an external computer device. Theupper, proximal bearing point 84 can be seen, as can the lower, distalbearing point 74. The bracket 70 comprises two joints 50, 60, whereinthe swivel axes 55, 65 of the two joints 50, 60 are situated in theswivel plane 350, orthogonal to the joint axis 35. The joint axis 35 isformed by a cardan joint-like connection between the bracket 70 and theframe 80, and attached via the free motion joint 12. Both swivel axis55, 65 intersect on the joint axis 35.

FIG. 7 shows a rear view of the joint device with the frame 80 and thebracket 70 and the respective lateral fixing devices 71, 81, such asbolts or screw receptacles, said fixing devices protruding in the medialdirection. The joint axis 35 can be recognized, as can the linearactuator 40 inside the housing on the frame 80 and the distal bearingpoint 74.

FIG. 8 shows a lateral view, in which the frame 80 is viewed from themedial direction, i.e. from the direction of the orthosis. The jointaxis 35 extends orthogonally out of the sheet plane; correspondingly,the sheet plane forms the swivel plane 350. The distal bearing point 74of the linear actuator is arranged at a distance from the joint axis 35,so as to be able to build up a torque about the joint axis 35 or absorbforces. A total of three fixing devices 81 are configured on the side ofthe frame 80 that faces the orthosis; by way of said fixing devices, theframe 80 can be fixed to the upper part such that it is stable andtorque-proof. Two fixing devices 71 are arranged on the mounting plate70 a, by means of which the mounting plate 70 a can be attached to thelower part, not depicted, such that it is torque-proof and stable withregards to its position. The fixing devices 71, 81 allow for areversible fixing of the joint device, which in this case is formed viathe frame 80 and the bracket 70.

Unlike an arrangement via a frame 80, the actuator can also be fixeddirectly to an upper part or a lower part.

We claim:
 1. A joint device of an orthosis or prosthesis or for anorthosis or prosthesis comprising: an upper part; a lower part; a jointthat comprises a joint axis, about which the upper part is mounted suchthat the upper part can be swiveled relative to the lower part; anactuator, which is designed to swivel the upper part relative to thelower part, the actuator is mounted at an upper part fixing point on theupper part and at a lower part fixing point on the lower part; and atleast two joints arranged between the upper part fixing point and thelower part fixing point, the at least two joints enable a swiveling ofthe actuator relative to the upper part fixing point and the lower partfixing point, and the at least two joints each form at least one swivelaxis, at least one of which is not oriented parallel to the joint axis,wherein the actuator is fixed to a bracket, which is arranged betweenthe joint axis and the upper part fixing point or the lower part fixingpoint, wherein each swivel axis formed by the at least two joints andthe joint axis each extends through the bracket, and wherein the swivelaxes lie in a common plane.
 2. The joint device according to claim 1,wherein the swivel axes include a first swivel axis that is orientedorthogonally to the joint axis.
 3. The joint device according to claim1, wherein a first of the swivel axes is oriented orthogonally to asecond of the swivel axes.
 4. The joint device according to claim 1,wherein the swivel axes are oriented neither parallel to each anothernor to the joint axis.
 5. The joint device according to claim 1, whereinthe actuator is designed as a linear actuator.
 6. The joint deviceaccording to claim 1, wherein the actuator is designed as an electrical,pneumatic or hydraulic drive, or a hydraulic or pneumatic damper, or anelectrical, pneumatic, mechanical or magnetic brake.
 7. The joint deviceaccording to claim 1, wherein the swivel axes and the joint axisintersect at a common point.
 8. The joint device according to claim 1,wherein at least one of the swivel axes lies in a swivel plane, which isoriented perpendicular to the joint axis.
 9. The joint device accordingto claim 1, wherein the bracket comprises a mounting plate, which isattached to the upper part or the lower part such that the mountingplate is torque-proof.
 10. The joint device according to claim 1,wherein the joint axis is configured between the upper part and thebracket or between the lower part and the bracket.
 11. The joint deviceaccording to claim 1, wherein the actuator is designed as a linearactuator and is mounted on the bracket at a bearing point at a distancefrom the joint axis.
 12. The joint device according to claim 1, whereinthe actuator is attached to a frame, which comprises fixing devices forthe reversible arrangement on the upper part or the lower part.
 13. Thejoint device according to claim 12, wherein the bracket is fixed to theframe such that the bracket can be swiveled and at least one of thejoint axis and the swivel axis is configured between the frame and thebracket.
 14. The joint device according to claim 12, wherein, when theswiveling about the joint axis occurs, the actuator conducts a movementin a plane that is defined by the frame.
 15. The joint device accordingto claim 12, wherein at least one sensor is arranged for recording atleast one of angular positions, paths, forces, torques, spatialpositions and accelerations on at least one of the joint device, theactuator, the frame and the bracket.
 16. A joint device of an orthosisor prosthesis or for an orthosis or prosthesis comprising: an upperpart; a lower part; a joint pivotally coupling the upper and lower partstogether about a joint axis; an actuator operable to pivot the upperpart relative to the lower part, the actuator being mounted at an upperpart fixing point on the upper part and at a lower part fixing point onthe lower part; and at least two actuator joints arranged between theupper part fixing point and the lower part fixing point, the at leasttwo actuator joints permitting pivoting of the actuator relative to theupper part fixing point and the lower part fixing point, and the atleast two actuator joints each form at least one actuator pivot axis, atleast one of which is not oriented parallel to the joint axis, whereinthe actuator is fixed to a bracket, which is arranged between the jointaxis and the upper part fixing point or the lower part fixing point,wherein each pivot axis formed by the at least two joints and the jointaxis each extends through the bracket, and wherein the pivot axes lie ina common plane.
 17. The joint device according to claim 16, wherein theactuator pivot axes include a first pivot axis that is orientedorthogonally to the joint axis.
 18. The joint device according to claim16, wherein a first of the actuator pivot axes is oriented orthogonallyto a second of the actuator pivot axes.